Visual self-localization of mobile robots is a fundamental problem in robot navigation. It is the premise of trajectory planning or vSLAM. In this paper, the research results of mobile robot vision self-localization in recent years are reviewed. The principle, advantages and disadvantages of various methods are introduced.
Research about robot vision is growing and more focusing on using image processing algorithm to enhance the sensing ability of a robot mobile to aware about its surroundings. This research using Kinect sensor which has 2 cameras, one RGB visible light and IR camera / depth camera both with 640×480 pixels at 30fps (frame per second). An object following method is applied on a 4WD differential mobile robot chassis equipped with Kinect sensor 1.0 running at 640×480 pixels, 30fps. The method using pixel coordinate averaging which summing all the pixel coordinate of the object of interest. Each calculation (vertical and horizontal) will result in a single integer value of coordinate in i or j showing the center of the object. Two tests object using symmetrical and non-symmetrical shows that the center object only moves slightly off about 1 pixel on j axis. The result of the calculation for symmetrical object on j axis is 9 (rounded down) and for the non-symmetrical object is 8 (rounded up). with the calculation on i axis is similar (on pixe114).
This paper provides an illumination robust direct monocular simultaneous localization and mapping (SLAM) method, which takes advantage of the RGB channel to enhance the lighting change invariance of the input frame series. By linearly combining the RGB channel, some illumination-insensitive components in the colour space are extracted and represented by three indicators in this paper. An optimization model is then provided to minimize the errors in these indicators using a Kalman filter (KF). These indicators serve to update the frames by keeping only the illumination-insensitive components. The illumination robust visual SLAM method based on these enhanced frames is thereby offered. In addition, the gradient magnitude is utilized to improve the distinctiveness of each pixel in the frame. Experiments on both artificial and natural datasets show that the provided method has a better illumination robustness than the state-of-the-art direct SLAM method.
—In this paper, the problem of finite-time stability for general non-Gaussian stochastic system with unknown state is investigated by using T-S fuzzy modeling. The objective is to control the probability density functions(PDFs) of the system output to follow a given PDFs. In order to describe the gray-box dynamics between PDFs of system output and controlled input, the well known fuzzy logic systems and the T-S fuzzy models are imported at the same time. Then a classical state observer is used to imitate the unknown state of the system. On account of the strong nonlinearity stochastic process, the square root B-spline is used to model the target PDFs. Finally, the favorable finite time stability can be achieved by employing convex optimization theory. Simulations study for a non-gaussian model are given to embody the superiority of the designed algorithm.
This article presents a quadtree data structured method for complete area coverage (CAC) path-planning in known environment with arbitrary shape obstacles by applying the concepts of contour map and spanning tree. Contour map can reduce the number of turns effectively. The results of this proposed method can achieve no overlapping with complete area coverage. The robot will start and end at the exact same point.
Multifunctional transforming furniture can accommodate a variety of increasingly common household formation types that are underserved by current housing options. Transforming furniture can add function and square footage to any space, large or small. However, existing models are completely manual and many of the adjustments to space require both time and labor-intensive work, which can further add to the stress of the individual. To reduce the effort and increase the efficiency of these systems, these processes are to be automated using robotics and controlled through the application of IoT (Internet of things).
For the reason that seldom research has been studied on the lightning trip flashover rate (LTFR) of distribution line, this paper focus on studying the calculation method about LTFR. The distribution line without mounting grounding line, flashover is mainly caused by direct stroke lightning and induced stroke lightning. Then, a conclusion can be drawn that LTFR is made up of direct stroke lightning trip rate and induced stroke lightning trip rate. Based on these, a model which can consider the structure of the distribution network, the type of grounding and lighting withstand level (LWL) is established. Furthermore, ATP-EMTP and the mirror method is applied to calculate the flashover probability caused by direct stroke lightning and the induced stroke lightning respectively. Moreover, to check the accuracy of the model, a typical 10kV distribution line in high lighting stroke area of China which is called Gaotian Line is chosen and the LTFR of the line is computed as well. The result shows that the computed result is very close to the practical running result, which proves the correctness of the model.
Cartesian robot with triple-speed truss can achieve the function that was grabbed tire from an assembly line and completed tire vertical stacking of storage. This paper was mainly focused on the design and parameter optimization of triple-speed truss robot-arm. The virtual prototype of Cartesian robot was built by Solidworks software. Using of finite element analysis software ANSYS Workbench, key parts and robot in the system were static analyzed and modal analyzed so that product was designed to meet the strength and stiffness requirements. 1
This paper proposes an adaptive fuzzy sliding mode controller (AFSMC) for pantograph haptic device. It has form mechanism with a 2-DoF redundancy actuated parallel robotic manipulator. An adaptive single input single output (SISO) fuzzy system is applied to calculate each element of the control gain vector in a sliding mode controller for purport to reject phenomenon chattering by the constant value of K and discontinuous function. The adaptive laws are designed based on the Lyapunov stability theory method. The adaptive laws are practiced online by fuzzy controller combine with the sliding mode control (SMC) to control stability the robot manipulator despite external forces disturbance. Many operation situations such as set point control also the trajectory control are simulated also experiment to demonstrate the operation controllers are good working.
Shot peening process is one of the widely adopted surfaces strengthening technology in the factory. It has some advantages and disadvantages compared with other processes (casting, welding, stamping, etc.). For example the advantages of the shot peening process: the process has the simple equipment, low cost of doing, not restricted by the shape and location of the parts, easy operation, etc. And the disadvantage is the poor operation condition ([1], [2], [3]).
There are test items for lithium-ion batteries in reliability testing for automobiles and motorcycles, but equivalent test items have not yet been established for mobility scooters (also known as electronic wheelchairs). To evaluate the lithium-ion battery pack or system mounted on a mobility scooter, it is necessary to test vibrations and mechanical shock while driving, independent of tests for the lithium-ion battery cells. In an effort to meet this need, test profiles were established for mobility scooter lithium-ion batteries by performing on-road driving tests and mechanical shock tests. The proposed test profiles were validated using robust statistics and proficiency statistics. The safety of the test profiles was tested in a nationally accredited testing laboratory. As a result, the lithium-ion battery mounted on the mobility scooter was found to have incurred no leakage, short circuit, burst, or explosion. The vibration and mechanical shock test profiles proposed in this study are expected to serve as basis data for establishing standards for mobility scooter safety and reliability.
